OWIKIT-LAB User`s Manual Version 1.0.0
Contents
1. 6 2 Operate ROBOTIC ARM TRAINER from PC __ 11 Connect ROBOTIC ARM TRAINER Interface Board and PC 11 Start up OWIKIT LAB __ 13 lt Key Direct Mode gt w wnnnnnnnnn nanan nnn nn nnn nnn nnn nnn 15 lt Program Mode gt awwwnnnnnnnn nnn nnn nnn mannan nnn neem 17 lt lt Programming in Program Mode gt gt _ 21 3 Let s transmit a program from PC to WAO KRANIUS 36 Connect WAO KRANIUS Interface board and PC 36 Start up OWIKIT LAB 37 lt Program Mode gt swwnnnnnnnnnnnnnnn nnn nnn nnn 39 lt lt Programming in Program Mode gt gt wnnnnnn 42 Program transmission and execution 51 lt Simulation Mode gt s nnn nn nn nnn 52 4 Troubleshooting 9 _ wnnnnnnnnnnn nanan naan anna nnn nnn nnn nnn nnn nnn 54 4 EK Japan 2008 OWIKIT LAB User s Manual 1 OWIKIT LAB SET UP Check the hardware and system requirements The hardware and system requirements to run OWIKIT LAB properly are as follows TIPS You can check the system requirements by double clicking the system icon in the control panel OS Windows XP Service Pack 2 or higher Vista CPU Pentium3 1 0GHz or higher Memory 256MB2. LEFT DiN DOWN L cow CLOSE LEFT E DOWN DOWN CLOSE LEFT Down o ooh CLOSE LEFT Cow DOWN L CCW Click START button to execute this program To save the program click SAVE select an appropriate folder where you want to save the program name the file and save When START is clicked the error check is automatically executed on the program Correct the program when there is an error s22 STOP STOP STOP STOP i STOR STOP STOP i STOP io STOP STOP STOP STOP stor STOP STOP STOR STOP im STOP STOP STOP OWIKIT LAB User s Manual a7ToOPr BAVE 3 ie a f EK Japan 2008 Eor ll OWIKIT LAB User s Manual lt Program EX2 gt When programming all the movements in 1 line Y OWIKIT LAB ROBOTIC ARM TRAINER Program Mode END nren ew a 1 START Sa i INSERT 2M TRA OVERWRITE E Use IF command OPER 1 Click EA button check CLOSE of Gripper and set to 5 seconds check RIGHT of Wrist and set to 3 seconds check DOWN of Elbow and set to 10 seconds check DOWN of Shoulder and set to 10 seconds click CW of Base and set to 15 seconds and click IEAS at the end j Gripper OPEN CLOSE STOP j E is e RIGHT LEFT STOP Bee UP DOWN EE Shoulder ig LIP E DOW ie STOP b INSERT va ader w LIF OF DOWN STOP E OV
3. OWIKIT LAB OWI 0762 USB and ROBOTIC ARM TRAINER MR 999E do not have a sensor and without a sensor IF and END IF commands do not function properly Please add a sensor by yourself according to need there are sensor input terminals SENS1 and SENS2 on OWI 0762 USB interface for a sensor such as a push switch Please note however that we are not liable for any damage or trouble caused by installing a sensor Check the box of Use IF command when you use IF and END IF buttons and sensors are additionally installed to ROBOTIC ARM TRAINER i 400 TO LAST W INSERT ad EER HE Ei Use IF command lt Program EX5 gt The program EX3 is executed when SENS1 is ON otherwise the movement where Base rotates in CW direction for 5 seconds is repeated endlessly OWIKIT LAB ROBOTIC ARM TRAINER Program Mode J joj xj E HHHH LAE Rosone Anm TRAINER AND WAD KRANIUS OPERATION SOFTWARE HELP SS et ioe F ey hese Y n S s gt ge GRIPPER WEST CLD 5 00f Right 3 0 OWN JBE TEI DWN o 0 Jh ha ad i GRIPPER Wrist EFELeaow SHOULDER Base IE Use IF command Program EX3 30 EK Japan 2008 OWIKIT LAB User s Manual 1 Make a program so that ROBOTIC ARM TRAINER repeats the program EX2 endlessly Click au and select INSERT SA QVWIKIT LAB ROBOTIC ARM TRAINER Program Mode J ior ROBOTIC ARM TRAINER AND WAO KRANIUG OPERATION SOFTWARE mA sti iar ae a z
4. When this button is pressed an operation is reversed for the time specified in the program display area and ROBOTIC ARM TRAINER goes back to the original position ROBOTIC ARM TRAINER might not go back to exactly the same position due to the assembly condition the operation condition etc The timer is reset to 0 All the movements of all the parts of ROBOTIC ARM TRAINER are stopped when ROBOTIC ARM TRAINER is Operating continuously Press this to save the program in the program display area The saved data can be imported when in Program Mode of ROBOTIC ARM TRAINER Display goes back to ROBOTIC ARM TRAINER Menu 16 EK Japan 2008 OWIKIT LAB User s Manual lt Program Mode gt In Program Mode you can create a program to operate ROBOTIC ARM TRAINER by clicking the buttons on the screen in order Screen OWIKIT LAB ROBOTIC ARM TRAINER Program Mode IM Use IF comman d A property setting screen appears when one of the program buttons on the left side is clicked lt ROBOTIC ARM TRAINER button gt ja This ROBOTIC ARM TRAINER button is to set the operation direction and the operation time of each part of ROBOTIC ARM TRAINER After setting the conditions click ENTER button Then the operation time is fixed and displayed in the program display area MEM ae Gripper OPEN CLOSE STF Ei mm SEC NTE Drew For E Wrist RIGHT LEFT 5 E o a 2 Oe ee ee o m o P
5. 4 TE TEI and set to 3 Label a 5 F Input a number in the range of 1 99 E LABEL ADD TO LAST i INSERT ig OVERWRITE aD aa NTER BTART OPEN TBSTOP BAwE LEAR CLOSE E eF Ye START eres pe roPr BAVE ia EK Japan 2008 OWIKIT LAB User s Manual 5 Click EA select CLOSE of Gripper set to 3 and click ENTER Gripper OPEN e CLOSE STOP T omis RIGHT LEFT STOP i Elbow UF E DOWN STOP Shoulder jy p E DOW STOP Pee Sq seer uP DOWN STOP OVERWRITE A Base ecw eccw STOP Input a number in the range of 1 99 IMS ERT IO BOTIC ARM TRAINER i OVERWRITE OPERATION IBctear Cose g DELETE Input a number in the range of 1 99 OPEN i INSERT PE EEN RR E ig OVERWRITE OPERATION CLEAR CLOSE i n Gripper OPEN CLOSE amp STOP 3 e ist RIGHT LEFT STOP UP DOWN STOP Shoulder je E Och im STOR INSERT a port Lode eel ole E OVER WAITE eo Base k Ci E Coy re STOP Input a number in the range of 1 99 EE INSERT JO BOTIC ARM TRAINER ig O vERWRITE IPERATION rear CLOS 3 E Input a number in the range of 1 99 LABEL lo ADD TO LAST W tor Save i INSERT TO BOTI ARM TRAINER OVERWRITE OPERATION eee rey 28 EK Japan 2008 OWIKIT LAB User s Manual 11 Click EA select UP of Shoulder set to 5 and click ENTER E
6. Pairs Fos an Meese OPERATION SOFTWARE 01 FOR O 02 FOR O Og FOR D O4 IF UFL OFF THEN 1 05 IF UPR OFF THEN 2 06 FOL 1 OF STOP 1 0g NEXT 09 LABEL 1 10 BUZZ2 2 2 ka SIMULATION START SIMULATION STOP SAVE WALL Ed Image display I Guide display 53 EK Japan 2008 OWIKIT LAB User s Manual Troubleshooting Select the current symptom from the below I Il and Ill and refer to the following pages for troubleshooting The software cannot be installed in PC ll ROBOTIC ARM TRAINER does not operate Ill Data cannot be transmitted to WAO KRANIUS The software cannot be installed in PC Q The operation system of my PC is Windows XP The installer is started up and the installation is executed but the software is not properly installed A Make sure the operating system of your PC is Windows XP Service Pack 2 or higher How to check 1 Click Start of Windows XP move the cursor to Control Panel and click 2 Double click System in Control Panel E Control Panel A m Eg File Edit View Favorites Took 7 ae 43 e 2 Taskbar and User Accounts Stark Menu a at Windows Wireless Firewall Network Sek 3 System property is displayed Check the version of Windows XP of your PC x System Properties SEL SS The description varies L teneral i Computer Name Hardware Advanced depending on a Windows XP ve
7. in Program Receive mode The LED of WAO KRANIUS starts blinking 5 Click OK in the message displayed on PC and the program transmission starts ad i J Is WAO KRANIUS ready for data sending Otherwise the data cannot be sent successfully concel_ 6 When the program transmission is complete properly WAO KRANIUS becomes in SLEEP mode again 7 Remove the cable for robot from WAO KRANIUS and press RUN MODE of WAO KRANIUS Then the transmitted program is executed WAO KRANIUS does not operate properly when there is an error in the program WAO KRANIUS does not operate properly when a program transmission is cancelled in mid course In such case press RESET button and start transmission from the beginning When unplugging the cable for robot from WAO KRANIUS make sure not to press RESET button of WAO KRANIUS by mistake The transmitted program is cleared when RESET button is pressed before RUN MODE button is pressed after the program transmission 541 EK Japan 2008 OWIKIT LAB User s Manual lt Simulation Mode gt In Simulation Mode you can have WAO KRANIUS simulate the program created in Program More on the screen Screen Program title display area lt OWIKIT LAB WAO KRANIUS Simulation Mode s Program display area Eee Pet Simulation area een treere TIC Sin ULATION START SIMULATION T
8. Elbow Shoulder or Base you want to move while pressing SHIFT key on the keyboard To stop press the corresponding key or click the part button again To move ROBOTIC ARM TRAINER with the corresponding key on the keyboards make sure not to press multiple keys at the same time or ROBOTIC ARM TRAINER may not operate properly Corresponding keys Location Operation Corresponding Mouse key operation OPEN A Right Finger CLOSE Z Left RIGHT S Right Wrist LEFT X Left UP D Right Elbow DOWN C Left UP F Right Shoulder DOWN V Left CW G Right Base CCW B Left ROBOTIC ARM TRAINER movement Left turn 15 EK Japan 2008 Operation button area Screen OWIKIT LAB User s Manual 2 OWIKIT LAB ROBOTIC ARM TRAINER Key Direct Mode Total time display area Operation button area Total time display area Program display area ENTER DELETE START STOP HOME POSITION CLEAR SAVE CLOSE ROGRAMMING Program display area Devere SOME POSITION When using a mouse put the pointer to the part button where you want to operate and right click or left click to operate the part The total operation time is displayed Fixed operation commands and the total operation time are displayed Fix the total operation time in the program display area Selected command in the program display area is deleted The program in the program display area is executed The program under execution is stopped
9. IF is clicked As for the detail refer to the separate chart Edit button area A program in the Program display area can be cut copied pasted or deleted To open a saved program save a program or transmit File button area SEND a program in the Program display area to WAO KRANIUS Program title display To title a program Click anywhere in the column to input area the file name 30 EK Japan 2008 OWIKIT LAB User s Manual Operation button area 3 i wao KRANIUS moves forward WAO KRANIUS moves backward WAO KRANIUS stops WAO KRANIUS makes a buzzer sound WAO KRANIUS moves in a low speed WAO KRANIUS moves in a high speed WAO KRANIUS turns left WAO KRANIUS turns right a a KRANIUS rotates left in place END To end a program FOR To repeat a program NE End of repeated program To set the condition of IF clause aG Numerical buttons switch to sensor selecting buttons when IF button is pressed See below THEN To set a sequence of movement of IF clause r exer ELSE To set a sequence of movement that does not suit IF e rot k NTER ENTER To fix a program _ 40 EK Japan 2008 OWIKIT LAB User s Manual The numerical keypad that appears when IF button is clicked When IF button is clicked the numerical buttons switch to sensor selecting buttons Press the button of cor
10. Multiple loops is used in the program EX3 and the program goes on repeating a square movement moving over little by little endlessly As for the program transmission to WAO KRANIUS and the program execution please refer to Program transmission and execution on Page 51 To save the program click SAVE select an appropriate folder name the file and save When SEND is clicked the error check is automatically executed on the program Correct the program when there is an error 48 EK Japan 2008 OWIKIT LAB User s Manual How to make a program with IF THEN and ELSE Program EX4 Let s make a program where WAO KRANIUS makes a Pipo Pe Po sound for once when the right infrared sensor is ON 1 Click in the order of a IRR gt ON gt e ae Ss eee This program refers to when the right infrared sensor is ON execute the program after Label 1 and when OFF then execute the program after Label 2 2 Click in the order of dase _ 4 _ B TER _ ee 3 Click in the order of 4 Click in the order of ase 2 o W a OWIKIT LAB WAO KRANIUS Program Mode 01 IF IRR ON THEN 1 ELSE 2 amp 400 TO LAST INSERT rd a a Now the program EX4 is complete As for the program transmission to WAO KRANIUS and the program execution please refer to Program transmission and execution on Page 51 To save the program click SAVE select an approp
11. AN O WA ERLA lL a OPERATION SOFTWARE 400 T LAST INSERT OVERWRITE Repeat the commands from FOR to NEXT 4 Times 2 Click in the order of MEE or ME TU OWIKIT LAB WAO KRANIUS Program Mode ROBOTIC Ane TRAIN AND Wan RRA ML OPERATION GOFTWARE 400 70 LAST o INSERT OVERWRITE Repeat the commands from FOR to NEXT 4 Times 46 EK Japan 2008 OWIKIT LAB User s Manual 3 To have WAO KRANIUS move over a little every time the program EX2 ends click Add to last T OWIKIT LAB WAO KRANIUS Program Mode lolx ROBOTIC ARM TRAINER AND Wan KERAMIS OPERATION SOFTNARE amp 400 TO LAST INSERT OVERWRITE Repeat the commands from FOR to NEXT 4 Times 4 Click in the order of A 2 5 Click in the order of ner a es OWIKIT LAB WAO KRANIUS Program Mode ROOT AR TARER AN O WA ERLA a OPERATION SOFTWARE amp 400 TO LAST INSERT rd a a 47 EK Japan 2008 OWIKIT LAB User s Manual 6 Lastly to repeat the whole movements endlessly add NEXT so that the program goes back to 01 line Click in the order of ne mre EH OWIKIT LAB WAO KRANIUS Program Mode 400 TO LAST INSERT OVERWRITE Repeat the commands from FOR to NEXT Now the program EX3 is complete As you see you can make a FOR and NEXT program in between another FOR and NEXT command This is called Multiple loops
12. Es hs ees ee et rae ania K RE 5 0 a lt gt ADD TO LAST eal OVERWRITE Use IF command EK Japan 2008 OWIKIT LAB User s Manual FOR 3 2 and are displayed at the same time However since a program has to be FOR between 2 and and click DELETE 5 OWIKIT LAB ROBOTIC ARM TRAINER Program Mode NEXT NEXT to be repeated click in the program display area for now ROR EE FR FR FR 0 start BREE ERE __ _ _ _ O ERE FOR PhS HS es ee ea INSERT picid te IE Use IF command 4 Select Add to last and click NEXT Then _ is added to the end of the program before END Now the program to repeat the program EX2 is complete 4 OWIKIT LAB ROBOTIC ARM TRAINER Program Mode ae Se i te SESS ee See Se eee eee ee ae eee see eee INSERT amp OWVERWRITE i Use IF command 25 EK Japan 2008 OWIKIT LAB User s Manual 5 With the above program the program is repeated for 2 times in the same direction Therefore it is NEXT recommended to insert a command to go back to the original position Click select ey make a program as follows and click ENTER E Gripper OPEN CLOSE STOP a Wrist RIGHT amp LEFT STOP gt Elbo G UP OWN STOP ADD TO LAST QuIRSERT b srouler UP DOWN STOP sec 0 WERWRITE ft Base ecw Oo cow STOP S OWIKIT LAB ROBOTIC ARM TRAINER Program Mo
13. or higher Hardware Disk Space 100MB or more Display Super VGA 800x600 or higher Color monitor with high color 16 bits or higher NET Framework Microsoft NET Framework 2 0 or higher When the above application is not installed download from Microsoft homepage and install Satisfying the above requirements does not guarantee the proper operation of the software under the specific PC environment of each user Microsoft Windows and Vista are trademarks or registered trademarks of Microsoft Corporation in the United States and other countries The company names product names etc are registered trademarks of each corresponding company How to install First of all end all applications and access to OWI OWI Inc homepage the link is below http Awww owirobot com 1 2 3 4 5 Click DOWNLOADS and select OWIKIT LAB Follow the directions on the download screen and save OWIKIT LAB in an appropriate folder After downloading is complete OWIKIT LAB_Installer_V exe is created in the specified folder Double click OWIKIT LAB_Installer_V exe and OWIKIT LAB_Installer_V exe folder is created Double click Setup exe in the folder and follow the instructions on the screen for installation w refers to the version number The description changes depending on the version End all applications when installing OWIKIT LAB or installation may not be execute
14. ow UP DOWN 6 stop sre io To Laser E Binoy ages See a S S Rite Renate Sots ect dere ge A Boe Set va Shoulder r U F E DO iy M Po H SEC l i INSERT Dro OVERWRITE A Base ecw C cow os FR SEC Tue r E The operation time can be set by either dragging the time bar or inputting a value in the box lt FOR and NEXT buttons gt Click FOR and NEXT buttons to repeat a specific command FOR and NEXT are to be used always in a pair Click FOR and set the number of times you want to repeat a specific movement and click ENTER Then FOR and NEXT are displayed at the same time in the program display area To input a program you want to repeat click NEXT and select INSERT or delete NEXT for now and input a program you want to repeat then click NEXT The commands between FOR and NEXT are repeated as many times as specified after FOR 17 EK Japan 2008 OWIKIT LAB User s Manual NEXT indicates the end of the program you want to repeat After the program is repeated for the number of times specified after FOR the program goes on up to the command after NEXT The commands between FOR and NEXT are repeated for the specified time The commands are repeated endlessly when it is set to 0 after FOR Input a number in the range of 0 99 BE ADD TO LAST sige INSERT 2 OVER WRITE lt GO TO button gt To jump to a command of the specified LABEL Clic
15. save the program click SAVE select an appropriate folder name the file and save When SEND is clicked the error check is automatically executed on the program Correct the program when there is an error Now let s transmit the program EX5 to WAO KRANIUS WAO KRANIUS must have made a Pipo sound when you put your hand toward the right infrared sensor and it must not have made a Pipo sound when there is nothing in its front This indicates that WAO KRANIUS makes a judgment according to the information from the sensor As mentioned above in a IF THEN and ELSE program execution of a movement depends on the condition whether the condition is satisfied or not decides which command is executed 50 EK Japan 2008 OWIKIT LAB User s Manual Program transmission and execution Follow the below instructions to transmit a program to WAO KRANIUS 1 Connect the enclosed cable for robot to the connector indicated as WAO KRANIUS on Interface Board 2 Have WAO KRANIUS in SLEEP mode by turning ON the power of WAO KRANIUS and pressing RESET gt RUN MODE gt RUN MODE in order and connect the cable for robot to WAO KRANIUS 3 After creating and saving a program in PC click SEND in Program Mode Then the message as shown below appears 4 After pressing RESET button of WAO KRANIUS press RUN MODE gt 0 to have WAO KRANIUS
16. the data cannot be sent successfully concel_ Is WAO KRANIUS ready for data sending Otherwise the data Y cannot be sent successfully Are not the batteries of WAO KRANIUS exhausted If so remove the old batteries and set new ones Are you sure you did not connect Interface Board after Program Mode screen appeared If you did PC might not recognize Interface Board correctly Then click CLOSE to go back to Mode Select screen and select Program Mode 56 EK Japan 2008
17. AO KRANIUG OPERATION SOFTWARE a ae ee ese eee Seana eeameeeeeaee start HERRERA aie a 0 a a Ff fe FOR _ ea a a eee eee eee eee ea ees SS SSeS eS Seabee eee aS ee See SSbeeaee O RRR EERE ERR eee e SSSR SSR SES Sse ehasase se ssa saeSseSsSeee ee REE EEE ER EE EE EE EEE REE EEE EH 10 0 cow 15 0 Z SF 1 FS Ca TR fs fc FT TEER AO ACATAR On o o o a a oo NEXT ADD TO LAST INSERT OVER EITE fd Use IF command OD EK Japan 2008 OWIKIT LAB User s Manual 5 Click IF select SENS1 and ON and click ENTER y SENSOR 1 SENSOR2 ON OFF ADD TO LAST OF INSERT OVERWRITE S QWIKIT LAB ROBOTIC ARM TRAINER Program Mode dese ROBOTIC ARM TRAINER AND WAO KRANIUG OPERATION SOFTWARE Pegg ede geeee anano nnna stant HERBS RERRPeSSeSeee oes eee saeeSeeeeeahesaet Sy a APRS SaaS bese eee eee aaan S SRR esses eee __ oO El Sf fp ef ro SEER ERERER Ree BREE qh ee mY Fo fa nt fa ft fa ff E Ea m e ff mi AMRACEREANEHNENAARRANNNAAMAM aaa E coe Se ef fs ff me fm ff Ce fms a E a a ee ha ae SRS SSS SSeS e See Sse Rasa sSss assess saeases a gt BERR ie oO SHOU ofur 10 o ue it JERE es IF 6 EES and END IF are displayed at the same time However the program EX3 which is to be executed when SENS1 is ON has to be between and L So click in the program display area for now and c
18. ER WRITE Po Base o CAN CCN STO F Now the program EX2 is complete Click START button to execute this program To save this program click SAVE select an appropriate folder where you want to save the program name the file and save When START is clicked the error check is automatically executed on the program Correct the program when there is an error 93 EK Japan 2008 OWIKIT LAB User s Manual How to make a program from FOR to NEXT lt Program EX3 gt Repeat the program EX2 twice 1 Click A in the program display area and select INSERT 15 x u OWIKIT LAB ROBOTIC ARM TRAINER Program Mode E Pa Ss eH a ASA stant O EERE SRSaeae E a Fa a i pf ap BERR S SRS SSS a EB m B m on i PETERIEMHMEREMBRE PRERARRSEHBEEBREHK I PF ae a I P a ee i JO I a oe an OPEN CLOSE oR Ci mene STOP DOWN STOP DOWN STOP ccw STOP 2 Click FOR and set the number of times to repeat For example to repeat the program for 2 times select 2 and click ENTER gt For Input a number in the range of 0 99 Eee ADD TO Last i INSERT OVERWRITE 4 OWIKIT LAB ROBOTIC ARM TRAINER Program Mode mM TRAINER AND WAO KRANIUS OPERATION SOFTWARE ie Fa ef fa ea ak Fa a ee a start BREE ERR ERR eat 8 1st a ac i i ak a ee Et a ei st in fp i _ _ tt
19. Mode screen go back to ROBOTIC ARM TRAINER Mode Select screen and select a mode again sioa EK Japan 2008 OWIKIT LAB User s Manual Start up OWIKIT LAB QWIKIT LAB may not operate properly if other application programs are open when OWIKIT LAB start up or other application is opened after OWIKIT LAB is started up Therefore make sure to close all the application programs when starting up OWIKIT LAB In addition ROBOTIC ARM TRAINER may not operate properly when a screen saver becomes active when it is operating Make sure to set the screensaver to None when ROBOTIC ARM TRAINER is operating 1 Goto Start gt All Programs gt OWIKIT LAB gt OWIKIT LAB 2 Robot Select screen appears Click ROBOTIC ARM TRAINER pane B il ROBOTIC ARM TRAINER WA KRANILUS 13 EK Japan 2008 OWIKIT LAB User s Manual 3 Mode Select screen appears Click whichever mode you want to use Each mode is explained in the following pages lt 4 w E E KEY DIRECT MODE PROGRAM MODE 14 EK Japan 2008 OWIKIT LAB User s Manual lt Key Direct Mode gt In Key Direct Mode you can operate ROBOTIC ARM TRAINER by clicking the keyboards and buttons on the screen In addition the program performed in Key Direct Mode can be saved and inserted in Program Mode To make ROBOTIC ARM TRAINER operate continuously press a corresponding key or the part button Gripper Wrist
20. NIUS Program Mode Romom ARM Tee AND Wan RA i OPERATION SOFTWARE aale ELS Program EX1 square Os STOP 1 400 TO LAST INSERT OVERWRITE 4 be od E 9 Click in the order of it gt B nren 10 Click in the order of ner s T gt nren 11 Click in the order of a gt 4 _ By 12 Click in the order of LZ gt 4 _ Ey OWIKIT LAB WAO KRANIUS Program Mode ROBOTIC RM TRAIN AND uo eRe OPERATION SOFTAARE el eS ee Program EX1 square oO 400 TO LAST INSERT OVERWRITE 13 Click in the order of k gt P EK Japan 2008 OWIKIT LAB User s Manual 14 Click in the order of 15 Click in the order of a 7viefi g 16 Click in the order of TT OWIKIT LAB WAO KRANIUS 400 TO LAST INSERT OVERWRITE Now the program EX1 is complete As for the program transmission to WAO KRANIUS and the program execution please refer to Program transmission and execution on Page 51 To save the program click SAVE select an appropriate folder name the file and save When SEND is clicked the error check is automatically executed on the program Correct the program when there is an error How to make a program from FOR to NEXT Program EX2 Let s create a program of the same sequence of movement as EX1 using FOR and NEXT 1 Click in the order of ue A o weer 2 Click in the order of 3 Clic
21. O WA FLOOR LOAD WALL FLOOR DATA AVE WALL FLOOR DATA P f 3 r z aJ ARR 5 A FT GHT Program title display area The title of the program is displayed Walls and black floors can be created in this area in which WAO E AaOr KRANIUS is arranged and a program can be simulated A program to be simulated is displayed Click OPEN and read Program display area the program you want to simulate During the simulation the program being simulated is highlighted Click this button once and click anywhere in the simulation area and drag to AE create a wall Right click and drag if necessary to delete the wall FLOOR Click this button once and click anywhere in the simulation area and drag to create a floor Right click and drag if necessary to delete the floor ARRANGE Click this ae once and click anywhere in the simulation area to arrange WAO KRANIUS LEFT WAO KRANIUS rotates left in the simulation area RIGHT WAO KRANIUS rotates right in the simulation area _ 52 EK Japan 2008 SIMULATION START Starts simulation SIMULATION STOP _ Stops simulation OWIKIT LAB User s Manual READ PROGRAM Read a program created in PROGRAM MODE CLOSE Goes back to WAO KRANIUS Mode Select screen IMAGE DISPLAY WAO KRANIUS image is displayed GUIDE DISPLAY WAO KRANIUS sensor area is displayed OWIKIT LAB WAO KRANIUS Simulation Mode ri TIANI it LAN a RosoTIC ARM TRAINER AND WAO KRANIUG
22. OWIKIT LAB User s Manual OWIKIT LAB User s Manual Version 1 0 0 EK Japan 2008 OWIKIT LAB User s Manual For Your Safety Use Thank you for your purchase of the OWIKIT LAB OWI 0762 USB This document explains how to set up and operate OWI 0762 USB For proper operation of OWI 0762 USB please read this document before use m WARNING e Stop the operation of the Interface Board immediately if smoke odor or unusual sound is being emitted from the Interface Board Such smoke odor or unusual sound could be a cause of electric shock or fire In such case turn off the power switch immediately and consult with OWI Inc for further correspondence e Never disassemble or remodel the Interface Board or cable or it could cause injury electric shock or fire e Never let liquid or flammable objects reach the interior of the Interface Board or it could cause injury electric shock or fire If by any chance such liquid or objects get inside the Interface Board stop the operation immediately e Donot touch either the Interface Board or a computer with a wet hand to avoid electric shock or any hazardous situation sCAUTION e Keep Interface Board out of the reach of small children or it may drop or fall down and cause physical injury e Do not place Interface Board unstable places such as an unstable table or uneven surface or it may drop or fall down and cause physical injury e Donot bend drop or damage I
23. be 2 Gripper OPEN 6 CLOSE 6 STOP EN E E E h ise c na gt M Eran Gas r Tf eee a a0 T a i Elbow UP DoW gs ie a taser f ene 7 nn Sa es va Shoulder i Lp w DOWN l 5 m i ime Och gs lia Cue vA INSERT OVERWRITE A Base ecw a D a i E Pr _ i INSERT al 20 80TIC ARM TRAINER a O ig OVERWRITE OPERATION SEEaAm CLOSE INSERT OVERWRITE When this program is executed ROBOTIC ARM TRAINER first executes the command OPEN Gripper for 3 seconds Then since there is GO TO 2 command the program jumps to LABEL 2 and ROBOTIC ARM TRAINER executes the command DOWN Shoulder for 5 seconds Then there is GO TO 3 and the program jumps to LABEL 3 and executes the command CLOSE Gripper for 3 seconds Then there is GO TO 4 command and the program jumps to LABEL 4 and executes the command UP Shoulder for 5 seconds Then there is GO TO 1 and it jumps to LABEL 1 and repeats the commands from the start As mentioned above the number that comes after GO TO indicates each corresponding label As you see this is the command to jump to a specified number of label Although the operation sequence of this program seems different from that of the program EX4 you can see that GO TO command makes ROBOTIC ARM TRAINER operate in the order 29 EK Japan 2008 OWIKIT LAB User s Manual How to create a program of IF and END IF
24. c is not liable for the opportunity loss or lost time caused by the trouble or improper use by a user of the software and the hardware 5 OWI Inc is not liable for any damages or troubles caused by the repair or change done by a user or any other parties than OWI Inc or its duly authorized dealers 6 Interface Board included in OWIKIT LAB is manufactured exclusively for the hardware of this product i e ROBOTIC ARM TRAINER and WAO KRANIUS Use of Interface Board included in OWIKIT LAB with a hardware or any other software than is included in this product for operating other products or components other than ROBOTIC ARM TRAINER and WAO KRANIUS not approved by OWI Inc is strictly prohibited without the written express permission of OWI Inc 7 Considerable effort has been made to ensure that this textbook is free of inaccuracies and omissions If you have found any inconvenience or incorrect information contained therein please contact us EK Japan 2008 OWIKIT LAB User s Manual Table of Contents For Your Safety Use 2 eNotes seseeeennnnnnnnnnnnnnnee nn e 3 1 OWIKIT LAB SET UP awnnnnnn nana nn nnn nana nn nnnnnnnenenensnnenenenennnnes 5 Check the hardware and system requirements 5 How to install 5 SET UP procedure
25. d properly Installation is successfully done when Complete message appears EK Japan 2008 OWIKIT LAB User s Manual SET UP procedure 1 Double click Setup exe icon Setup exe For Windows Vista User Account Control screen will appear Click Allow User Account Control Don t run the program unless you know where it s from or you ve used it before z l Setup exe Unidentified Publisher Cancel I don t know where this program is from or what it s for gt Allow I trust this program I know where it s from or I ve used it before Y Details User Account Control helps stop unauthorized changes to your computer 2 Click Next fe Setup OWIKIT LAB Welcome to the OWIKIT LAB Setup Wizard This will install OWIEIT LAB on your computer Itiz recommended that you close all other applications before continuing Click Nest to continue or Cancel to exit Setup Cancel EK Japan 2008 OWIKIT LAB User s Manual 3 Select a folder Normally the folder displayed by default is OK Then click Next fe Setup OWIKIT LAB Select Destination Location Where should OWIEIT L amp B be installed LJ Setup will install OWIEIT LAB into the following folder To continue click Nest IF you would like to select a different folder click Browse At least 34 4 MB of free disk space iz required pe 4 Specify a name
26. de EATE ROBOTIC ARM TRAINER AND WAO KRANIUG OPERATION SOFTWARE E SRR RS See eee ees eee eee EE ee ee ee eae ee ee ee aie eee ei ee fe a en Ge e P Ln fe Ge fe a 0 a YF Ff FG fa pv fa fe ef Pr ff fe fa ff 20 pf a eee ee 400 TO LAST g INSERT OVERWRITE E Use IF command Execute this program and the movement of the program EX2 is repeated twice As you see FOR and NEXT are the commands to repeat the command between FOR and NEXT as many times as specified 26 EK Japan 2008 How to make a program with GO TO and LABEL lt Program EX4 gt OWIKIT LAB User s Manual A program using GO TO and LABEL where the following command is repeated endlessly OPEN Gripper for 3 seconds DOWN Shoulder for 5 seconds CLOSE Gripper for 3 seconds and UP Shoulder for 5 seconds FOR and NEXT enable to make the command between FOR and NEXT to be repeated endlessly However in this section we shall make a repetition command using GO TO and LABEL o_o TE ook ac set to 1 J Label Input a number in the range of 1 99 sf LABEL ADD TO LAST INSERT E OVERWRITE a Gripper OPEN CLOSE gt Wrist RIGHT LEFT EHO IF ie A er a Elbow LP DoW Sas G Ab Toca Se INSERT b shover UP DOWN i OVERWRITE A Base ecw it GOTO P Input a number in the range of 1 99 Si i BEL L r i igs INSERT ig OVERWRITE
27. ecuted the base rotates in CW direction for 5 seconds endlessly when SENS 1 is OFF but when ON the program EX3 is executed However the movement does not switch right away when SENS1 turns ON the program EX3 is i F executed only when the sensor is ON at the moment the program is at Tone when it checks the condition of SENS 1 35 EK Japan 2008 OWIKIT LAB User s Manual 3 Let s transmit a program from PC to WAO KRANIUS Connect WAO KRANIUS Interface Board and PC 1 Make sure the SW2 of Interface Board is as shown in the below photo Make sure the inserting direction 2 Connect the enclosed cable for robot to the connector indicated as PIMOT on the interface board Make sure the inserting direction 3 Connect other end of the cable for robot to WAO KRANIUS 4 Connect the interface board and PC with the enclosed USB cable Please note that when Interface Board is connected to PC for the first time it might take several tens of seconds for the PC to recognize Interface Board 36 EK Japan 2008 OWIKIT LAB User s Manual Start up OWIKIT LAB Make sure no application programs other than OWIKIT LAB are open or active otherwise OWIKIT LAB might not operate properly In addition OWIKIT LAB might not operate properly also when a screensaver function becomes active while a program is being transmitted to WAO KRANIUS or when a WAO KRANIUS simulati
28. for now input a program you want to repeat and click END IF OWIKIT LAB OWI 0762 USB and ROBOTIC ARM TRAINER OWI 007 do not have a sensor and without a sensor IF and END IF commands do not function properly Please add a sensor by yourself according to need there are sensor input terminals SENS1 and SENS2 on OWI 0762 USB interface for a sensor such as a push switch Please note however that we are not liable for any damage or trouble caused by installing a sensor Check the box of Use IF command when you use IF and END IF buttons and sensors are additionally installed to ROBOTIC ARM TRAINER INSERT wee ver re Ei Use IF command e SENSOR1 SENSOR NTER r b i il 7 OR JEXT ewe Pore O on or ro vase CU i INSERT 19 EK Japan 2008 OWIKIT LAB User s Manual SENSOR 1 ON When SENS1 is ON the commands after IF are executed otherwise the operation starts from the command after END IF 7 When SENS 1 is OFF the commands after IF are executed api OFF otherwise the operation starts from the command after END IF _ When SENS 2 is ON the commands after IF are executed na otherwise the operation starts from the command after END IF _ When SENS 2 is OFF the commands after IF are executed a 2 0FF therwise the ope
29. idly licensed copy of the software 4 By clicking I accept the terms of the License Agreement and proceeding to use the product I indicate that I have read understood and agreed to the terms of the End User License 4greement 9 Wait until NET Framework 2 0 installation completes The installation may take a few more than 10 minutes When the installation is complete click Finish iis Microsoft NET Framework 2 0 Setup foi Setup Complete Microsoft NET Framework 2 0 has been successfully installed It is highly recommended that you download and install the latest service packs and security updates For this product For more information visit the Following Web site Product Support Center Finish EK Japan 2008 OWIKIT LAB User s Manual 10 OWIKIT LAB installation starts fe Setup OWIKIT LAB Installing Please wait while Setup installs OWlEIT LAB on your computer Extracting files C Program FilesSO WIEIT LABSOWIEIT LAB ese 11 The installation is complete Click Finish ie Setup OWIKIT LAB Completing the OWIKIT LAB Setup Wizard Setup has finished installing OWIEIT LAB on your computer The application may be launched by selecting the installed Icons Click Finish to exit Setup 10 EK Japan 2008 OWIKIT LAB User s Manual 2 Operate ROBOTIC ARM TRAINER from PC Connect ROBOTIC ARM TRAINER Interface Board and PC IMPORTANT Make sure to fo
30. iew or change any settings change any settings Microsoft NET Framework 2 0 is required to operate OWIKIT LAB Destination location Click INSTALL to download Microsoft NET Framework 2 0 files C Program Files O WIKIT LAB The installation takes about 10 minutes Then OWIKIT LAB is automatically installed afterwards Destination location C Program Files O WIKIT LAB The screen when NET Framework The screen when NET Framework 2 0 2 0 needs to be installed dose not need to be installed go to No 10 7 Files required are downloaded from the Internet After downloading the below window is displayed Click Next Microsoft NET Framework 2 0 Setup Seles Welcome to Microsoft NET Framework 27 0 Setup This wizard will guide you through the installation process EK Japan 2008 OWIKIT LAB User s Manual 8 Check the box of I accept and click Install iis Microsoft NET Framework 2 0 Setup End User License Agreement End User License Agreement MICROSOFT SOFTWARE SUPPLEMENTAL LICENSE TERMS MICROSOFT MET FRAMEWORK 2 0 Microsoft Corporation for based on where you live one of its affiliates licenses this supplement to you IF vou are licensed to use Microsoft Windows operating system software the software you may use this supplement You may nok use it if you do nok have a license For the software You may use a copy of this supplement with each val
31. k in the order of 44 EK Japan 2008 OWIKIT LAB User s Manual 4 Click in the order of 5 Click in the order of 6 Click in the order of ones nren TU OWIKIT LAB WAO KRANIUS Program Mode amp 400 To LAST INSERT OVERWRITE Repeat the commands from FOR to NEXT Now the program EX2 is complete When EX1 and EX2 are transmitted to WAO KRANIUS it makes exactly the same movements How could this happen even though the length of the 2 programs is different The answer is the FOR and NEXT command used in the program EX2 As you see FOR and NEXT are very useful command when you want a sequence of movement a process of the program to be repeated for a certain number of times As for the program transmission to WAO KRANIUS and the program execution please refer to Program transmission and execution on Page 51 To save the program click SAVE select an appropriate folder name the file and save When SEND is clicked the error check is automatically executed on the program Correct the program when there is an error 45 EK Japan 2008 OWIKIT LAB User s Manual Program EX3 Let s create a program where WAO KRANIUS repeats a square movement of the program EX2 moving over little by little 1 Since the movement of the program EX2 is repeated endlessly click the 01 line and click INSERT OWIKIT LAB WAO KRANIUS Program Mode ROOT Aue TARER
32. k this button and specify the number of the i i wert to jump to pe f Nexr Wm GOTO e Input a number in the range of 1 99 lao To ABEL ADD TO LAST W INSERT OVERWRITE lt LABEL button gt k setthej mui destination of GO TO Click this button and set the number of LABEL qexr or Label _ m a B Input a number in the range of 1 99 a E Bo ro CESE i 4DD TO LAST INSERT i ld E i OVERWRITE lt IMPORT button gt To insert a program created in Key Direct Mode Click this button and select the file you want to insert in the program 18 EK Japan 2008 OWIKIT LAB User s Manual lt Editing buttons gt ENTER Enter a program in process in the program display area START Execute a created program and move ROBOTIC ARM TRAINER STOP Stop a program in execution CLEAR Clear a program not yet fixed NEW Create a new program OPEN Open a saved program file SAVE Save a created program CLOSE Go back to ROBOTIC ARM TRAINER menu lt IF END IF buttons gt To make a conditional judgment IF and END IF are to be used always in a pair The further process depends on the condition set after IF Click IF and set a condition then click ENTER Then IF and END IF are concurrently displayed in the program display area Input a program that is to be executed when the conditions are satisfied by clicking END IF and selecting INSERT or delete END IF
33. lick DELETE a5 OWIKIT LAB ROBOTIC ARM TRAINER Program Mode j ie ROBOTIC RM TRAINER AND WAO KRANIUG OPERATION SOFTWARE RSS sSaeeasaesaseeae start BREE ea fe e a a ef ef pe fn BSS Sasa s See ase Ses Seen sass eeseeaead _ FOR _ Gs si a sh NNN NN 00 eee Oa AAA ae Siete el sialal E DRANAMARAREN SD Se SS GN st sia tf a a i an a nt a i fF in i i Kyl el wal 2 co M BES next HR RRR RRR eso a a hk 33 EK Japan 2008 OWIKIT LAB User s Manual 7 Select Add to last and click END IF enone is added to the last before END and the program executed when SENS1 is ON is complete OWIKIT LAB ROBOTIC ARM TRAINER Program Mode od io ROBOTIC ARM TRAINER AND WAO KRANIUG OPERATION SOFTWARE Gown 10 0 nm 15_0 Gren 2 0f Lerr 3 0 up 10 0f up 10 0 ccw 15 0 8 Next a program that is executed when SENS1 condition is not satisfied when SENS1 is OFF E to be added Make a program to rotate the Base in CW direction for 5 seconds ke E e k Gripper OPEN Eaa STOF M SEC amp Wrist eC N STOP M E SEC a Down STOF M E SEC ADD TO LAST Ou INSERT a neuer UP E DOWN STOP O SEC E 3 OVERWRITE A Base a cw MN STOP S SEC Brean 34 EK Japan 2008 OWIKIT LAB User s Manual 9 Lastly add NEXT to repeat the command endlessly and the program is complete Now the program EX5 is complete When this program is ex
34. lll Data cannot be transmitted to WAO KRANIUS Q The program cannot be transmitted to WAO KRANIUS after SEND button in Program Mode is clicked A Check the following points Are not the USB cable and the cable for robot unplugged Make sure if the USB cable is connected to PC and Interface Board properly or if the cable is not disconnected When the USB cable is connected properly when PC power is ON the LED1 green of Interface Board turns ON In addition make sure the cable for robot is also connected to PIMOT of Interface Board and WAO KRANIUS or if the cable is not disconnected Is WAO KRANIUS in Program Receive mode If not WAO KRANIUS cannot receive the program transmitted from PC After connecting the cable for robot to WAO KRANIUS make sure to press the button RESET gt RUN MODE gt 0 of WAO KRANIUS in order to have WAO KRANIUS in Program Receive mode 55 EK Japan 2008 OWIKIT LAB User s Manual When WAO KRANIUS mode changes to Program Receive mode the red and green LEDs of WAO KRANIUS start blinking In addition when SEND button is clicked the following message appears This pop up is a proper message for confirmation and it is not an error Click OK after making sure WAO KRANIUS is in Program Receive mode WAD KRANIUS J xj Cai i Ts Wad KRANIUS ready for data sending Otherwise
35. llow the below instruction in descending order otherwise ROBOTIC ARM TRAINER might execute unexpected operation 1 Make sure the SW2 of Interface Board is as shown in the below photo Please note that when Interface Board is connected to PC for the first time it might take several tens of seconds for the PC to recognize Interface Board 3 Connect the cable for robot to the connector indicated as ROBOT ARM on Interface Board Make sure to connect to a correct connector 11 EK Japan 2008 OWIKIT LAB User s Manual 4 Connect the other end of the cable for robot to ROBOTIC ARM TRAINER Make sure to connect to a correct connector 5 Start up OWIKIT LAB in your PC and select ROBOTIC ARM TRAINER and a mode you want to use Refer to Start up OWIKIT LAB for detail 6 Set SW2 of Interface Board to gt R A and make sure the LED turns red Refer to the photo below for detail 7 Operate ROBOTIC ARM TRAINER in each mode As for the operation in each mode please refer to lt Key Direct Mode gt and lt Program Mode gt IMPORTANT Make sure to follow the below instructions otherwise ROBOTIC ARM TRAINER might execute unexpected operations Make sure the LED2 red on Interface Board is OFF when connecting Interface Board and PC Do not unplug the USB cable from Interface Board while OWIKIT LAB is in Key Direct Mode or Program Mode If you unplug by mistake close the
36. m a R ig PO A ou a fe Ef ff fe fv i fp 2 To repeat endlessly set to 0 and click ENTER 7 Input a number in the range of 0 99 ADD TO LAST OF IMSERT OVERWRITE SH QOWIKIT LAB ROBOTIC ARM TRAINER Program Mode fu ior ROBOTIC ARM TRAINER AND WAO KRANIUG OPERATION SOFTWARE PES SSSS SSS ase S SSeS SSS Seeeb seas eSsesSSeSseee START Sane eieieie E SPAS Beiad ae ARS R aes See eS Sees eee ees ana a E HHHH H HL H LL TENERE aR eee ee EER EEE ELE ELLE rr eo nm 7 a SOO Soe Ge n e AE ln vor MERSAN See a ee ee eee eae eee eee ee ey es nf fe fn a Ff sf e 31 EK Japan 2008 OWIKIT LAB User s Manual FOR 3 co and then click DELETE Ga OWIKIT LAB ROBOTIC ARM TRAINER Program Mode NEXT NEXT are displayed at the same time Therefore click for now and INTE lik Ja NEEN ROBOTIC ARM TRAINER AND WAO KRANIUG OPERATION SOFTWARE Fo ze SRS Saas Seabees Sasa aes sessae sass BRERA SESSA Sass Seas eSe passa ssa y l Eon SNA MAREMARE 6 GG 2 mm ed af a Ff ak fe ef a Lane PERE asses eases Seae eee sees eases Soe eSaeee SRS SSeS e SSSA eS Ses SSeb se aeaasepeSaaaes Ba 000 ss0000000000000000000sseeoeene 4 Now the sensor conditions are set The program EX3 needs to be executed when SENS1 is ON Therefore click the first and then select INSERT EH OWIKIT LAB ROBOTIC ARM TRAINER Program Mode j ie ROBOTIC RM TRAINER AND W
37. nterface Board or cable nor allow anything to rest on it or it may Cause malfunction or physical injury e Do not place Interface Board in areas with dust or high humidity or it may cause electric shock or fire e Interface Board is a precision electronic device Keep it away from the static electricity to avoid damage e Donotuse Interface Board near devices such as radio TV or any audio appliances Interface Board emits high frequency signals which may cause noise from such devices mentioned above e When notin use do not keep Interface Board in the following locations or Interface Board may suffer damage with direct sunlight or near a heating appliance with large temperature difference with dust or dirt with high humidity subject to vibration or shock near a device such as a speaker that generates magnetic or electromagnetic interference Or EK Japan 2008 OWIKIT LAB User s Manual W Notes 1 Under the copyright laws this document may not be reproduced in whole or in part without the written express permission of OWI Inc 2 The contents specifications and the form of OWIKIT LAB are subject to change without prior notice 3 OWI Inc is not liable for any consequence whatsoever from an improper use or operation or inability to use or operate this software and this textbook 4 OWI Inc does not guarantee the data in your PC or any other products of a similar nature Additionally OWI In
38. of the folder of which you want to create a shortcut icon Normally the folder displayed by default is OK Then click Next fe Setup OWIKIT LAB Select Start Menu Folder Where should Setup place the program s shortcuts E Setup will create the program s shortcuts in the following Start Menu folder To continue click Nest IF you would like to select a different folder click Browse Browse EEEE 5 If you want to create a shortcut icon then click the box and click Next i Setup OWIKIT LAB Select Additional Tasks Which additional tasks should be perhormed Select the additional tasks you would like Setup to perform while installing OWIEIT LAB then click Mert Additional icons EK Japan 2008 OWIKIT LAB User s Manual 6 The items to be installed are displayed NET Framework 2 0 is displayed as well when it needs to be installed Click Install When NET Framework 2 0 does not need to be installed then go on to No 10 For Windows Vista NET Framework 2 0 is installed by default fe Setup OWIKIT LAB fe Setup OWIKIT LAB Ready to Install i Ready to Install Setup is now ready to begin installing OWIKIT LAB on your computer Q Setup is now ready to begin installing OWIKIT L4B on your computer Click Install to continue with the installation or click Back if you want to review or Click Install to continue with the installation or click Back if you want to rev
39. on is being executed Therefore make sure to set the screensaver to None 1 Go to Start gt All Programs gt OWIKIT LAB gt OWIKIT LAB 2 Robot Select screen appears Click WAO KRANIUS WAO KRANIUS 37 EK Japan 2008 OWIKIT LAB User s Manual 3 Mode Select screen appears Click either Program Mode or Simulation Mode Each mode is explained in the following pages Ino Se 15 05 PROGRAM MODE a SIMULATION MODE 38 EK Japan 2008 OWIKIT LAB User s Manual lt Program Mode gt In Program Mode you can create a program to operate WAO KRANIUS by clicking the buttons on the screen in order Screen Program title 5 OWIKIT LAB WAO KRANIUS Program Mode Program display area Comment display area wire 4t aA et ij Edit button area afe joja 17538 ee Operation button area Program display area clicked Comment display area A selected line in the Program display area is described To create a program to operate WAO KRANIUS by clicking the buttons and numerical keys in this area in order Once a button is clicked the command is displayed in the Program display area and fixed when ENTER is clicked Refer to the separate chart as for the function of each button Operation button area The operation time or the operation angle can be set Numerical keypad These buttons switch to condition setting buttons when
40. ration starts from the command after END IF 20 EK Japan 2008 OWIKIT LAB User s Manual lt lt Programming in Program Mode gt gt Following explains how to create a program to operate ROBOTIC ARM TRAINER with some examples EX Let s create a program where ROBOTIC ARM TRAINER moves as follows Gripper Close for 5 seconds Wrist RIGHT rotation for 3 seconds Elbow DOWN for 10 seconds Shoulder DOWN for 10 seconds Base CW rotation for 15 seconds lt Program EX1 gt When programming 1 movement in 1 line OWIKIT LAB ROBOTIC ARM TRAINER Program Mode I RAND WADO KRANIUB OPERATION SOFTWARE hg Srey OPEN DOWN b E Shoulder i JP 0OWN OVERWRITE A Base P cw cc FE i itist RIGHT LEFT a Bear UP ADD TO LAST amen INSERT sii EK Japan 2008 2 Click ER button check RIGHT of Wrist and set to 3 seconds and click ENTER ia INSERT i g OVER 4WRI TE P INSERT W OVERWRITE i INSERT OVERWRITE i INSERT i OVERWRITE Q2 Gripper gt Wrist OPEN RIGHT a Shoulder ig UP Base Gripper gt Wrist Base Gripper gt Wrist 7 Elbow OFEN RIGHT va Shoulder UF OFEN RIGHT UF va Shoulder w UP Base Q2 Gripper Wrist amp a Elbow OPEN RIGHT UP va Shoulder LIF Base Now the program EX1 is complete mo Cu CLOSE
41. responding sensor and press either ON or OFF button to set the IF condition IRL Infrared sensor left IRR Infrared sensor right UFL Floor sensor left front UFR Floor sensor right front UBL Floor sensor left back UBR Floor sensor right back 41 EK Japan 2008 OWIKIT LAB User s Manual lt lt Programming in Program Mode gt gt Following explains how to create a program to operate WAO KRANIUS with some examples Program EX1 Let s create a program where WAO KRANIUS moves in a square in middle speed The operation time is 2 for all the movements Since a direct current motor is used in WAO KRANIUS the driving distance or the turning angle of WAO KRANIUS is not always accurate the square movement is not exactly square However accuracy of the turning angle can be improved by setting the spinning time As for the detail please refer to the assembly instruction manual of WAO KRANIUS 1 Click in the order of 2 Click in the order of P I i 3 Click in the order of 4 Click in the order of ne E OWIKIT LAB WAO KRANIUS Program Mode amp 400 TO LAST INSERT OVERWRITE i L 3 nP 5 Click in the order of 6 Click in the order of i P tt AII ITER H gt 4 gt _42 7 Click in the order of EK Japan 2008 OWIKIT LAB User s Manual 8 Click in the order of ne a RU OWIKIT LAB WAO KRA
42. riate folder name the file and save When SEND is clicked the error check is automatically executed on the program Correct the program when there is an error Now let s transmit the program EX4 to WAO KRANIUS In this program WAO KRANIUS makes a Pipo sound when the right infrared sensor is ON So click MODE RUN button of WAO KRANIUS and put your hand approx 10cm ahead of the right infrared sensor Did WAO KRANIUS make a Pipo sound It might not have made the sound but that does not mean there is 49 EK Japan 2008 OWIKIT LAB User s Manual a mistake in the program The WAO KRANIUS did not make a Pipo sound because the program processing speed was too fast and the program had already been executed when you put your hand 10cm ahead of it Program EX5 Let s make a program using FOR and NEXT where the program EX4 is repeated endlessly 1 Click 01 line and click INSERT 2 Click in the order of ue gt T 23 enren 3 Check Add to last 4 Click in the order of Y OWIKIT LAB WAO KRANIUS Program Mode 01 FOR 0 02 IF IRR ON THEN 1 ELSE 2 03 LABEL 1 04 BUZZ 1 05 LABEL 06 MEXT PASTE O 400 TO LAST INSERT OVERWRITE Repeat the commands from FOR to NEXT Now the program EX5 is complete As for the program transmission to WAO KRANIUS and the program execution please refer to Program transmission and execution on Page 51 To
43. rsion ystem Microsoft Windows sP of your PC Home Edition Version 2002 Service Pack 2 Registered to When the version of Windows XP Service Pack of your PC is not 2 or higher then installation might not be executed properly Please access to Microsoft URL and update the version 54 EK Japan 2008 OWIKIT LAB User s Manual Il ROBOTIC ARM TRAINER does not operate Q ROBOTIC ARM TRAINER cannot operate by OWIKIT LAB A Check the following points Are the USB cable and the cable for robot connected properly Make sure if the USB cable is connected to PC and Interface Board properly or if the cable is not disconnected When the USB cable is connected properly when PC power is ON the LED1 green of Interface Board turns ON In addition make sure the cable for robot is also connected to R A of Interface Board and ROBOTIC ARM TRAINER or if the cable is not disconnected Is SW2 of Interface Board set to gt R A If not ROBOTIC ARM TRAINER does not operate Set SW2 to gt R A and then the LED2 red turns ON Are not the batteries of ROBOTIC ARM TRAINER exhausted If so remove the old batteries and set new ones Are you sure you did not connect Interface Board after either Key Direct Mode or Program Mode screen appeared If you did PC might not recognize Interface Board correctly Click CLOSE to go back to Mode Select screen and select a mode you want to use
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